mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
3f6adad463
* Updating examples and README * updated main readme * odom: Added always_check_imu_tf parameter. sync: increased default sync_queue_size from 2 to 5 (to be more flexible to different hardware), added input and output diagnostics. rtabmap_viz: fixed node with same name redeclared warning. * update readme * Added husky demo * converted demo_robot_mapping.launch to ros2 * Converted stereo_outdoor demo from ros1 to ros2 * Converted multi-session demo to ros2 * Converted demo_find_object launch to ros2 * renamed files * uniformized default qos, increased sync_queue_size default to 10 * Added vlp16 + imu example * Added husky 3D lidar demos * moved demos in subdir * Added vlp16+zed example * rtabmap_viz: ignore odom update if tf not ready when not using topic (to avoid showing red screen). Added champ VSLAM demo. * forwarded camera_model arg for zed examples, removed qos for turtlebot4 demo * pointcloud_to_depthimage: added more error logs, removed output camera_info published twice and match ros1 namespaces * Created two base general examples for 3D lidar usage, then create hardware specific examples on top of them. * Added isaac sim demo * Final update of all demos. Fixed MapCloud rviz plugin crashing when floor/ceiling filtering is used and resulting cloud is empty. * Fixed 2d scan deskewing output frame, moved nav2 params under "params" folder, added number of topics processed/dropped for odometry, added icp_odometry option for turtlebot3 scan-only demo. * rtabmap_demos: added README with examples * Added TOC * bump version to 0.21.9
107 lines
5.0 KiB
Markdown
107 lines
5.0 KiB
Markdown
rtabmap_ros
|
|
===========
|
|
|
|
RTAB-Map's ROS2 package (branch `ros2`). **ROS2 Foxy minimum required**: currently most nodes are ported to ROS2. The interface is the same than on ROS1 (parameters and topic names should still match ROS1 documentation on [rtabmap_ros](http://wiki.ros.org/rtabmap_ros)).
|
|
|
|
#### CI Latest
|
|
|
|
<table>
|
|
<tbody>
|
|
<tr>
|
|
<td>ROS 1</td>
|
|
<td><a href="https://github.com/introlab/rtabmap_ros/actions/workflows/ros1.yml"><img src="https://github.com/introlab/rtabmap_ros/actions/workflows/ros1.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap_ros/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap_ros/actions/workflows/docker.yml/badge.svg" alt="Build Status"/>
|
|
</td>
|
|
</tr>
|
|
<tr>
|
|
<td>ROS 2</td>
|
|
<td><a href="https://github.com/introlab/rtabmap_ros/actions/workflows/ros2.yml"><img src="https://github.com/introlab/rtabmap_ros/actions/workflows/ros2.yml/badge.svg" alt="Build Status"/>
|
|
</td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
|
|
#### ROS Binaries
|
|
|
|
<table>
|
|
<tbody>
|
|
<tr>
|
|
<td rowspan="1">ROS 1</td>
|
|
<td>Noetic</td>
|
|
<td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap_ros__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap_ros__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
|
|
</tr>
|
|
<tr>
|
|
<td rowspan="4">ROS 2</td>
|
|
<td>Humble</td>
|
|
<td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
|
|
</tr>
|
|
<tr>
|
|
<td>Iron</td>
|
|
<td><a href="http://build.ros2.org/job/Ibin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
|
|
</tr>
|
|
<tr>
|
|
<td>Jazzy</td>
|
|
<td><a href="http://build.ros2.org/job/Jbin_uN64__rtabmap_ros__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Jbin_uN64__rtabmap_ros__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
|
|
</tr>
|
|
<tr>
|
|
<td>Rolling</td>
|
|
<td><a href="http://build.ros2.org/job/Rbin_uN64__rtabmap_ros__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Rbin_uN64__rtabmap_ros__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
|
|
</tr>
|
|
<tr>
|
|
<td>Docker</td>
|
|
<td>
|
|
<a href="https://hub.docker.com/r/introlab3it/rtabmap_ros">rtabmap_ros</a>
|
|
</td>
|
|
<td><img src="https://img.shields.io/docker/pulls/introlab3it/rtabmap_ros.svg?label=pulls" alt="Docker Pulls"/></td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
|
|
# Usage
|
|
|
|
* For sensor integration examples (stereo and RGB-D cameras, 3D LiDAR), see [rtabmap_examples](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_examples/launch) sub-folder.
|
|
|
|
* For robot integration examples (turtlebot3 and turtlebot4, nav2 integration), see [rtabmap_demos](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_demos) sub-folder.
|
|
|
|
## Logging
|
|
To make RTAB-Map's logs appear ordered with RCLCPP's logs, set the following environment variables in your `.bashrc` (see official "[About Logging](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Logging.html)" documentation for more info):
|
|
```bash
|
|
export RCUTILS_LOGGING_USE_STDOUT=1
|
|
export RCUTILS_LOGGING_BUFFERED_STREAM=1
|
|
# Optional, but if you like colored logs:
|
|
export RCUTILS_COLORIZED_OUTPUT=1
|
|
```
|
|
|
|
## Recommended DDS
|
|
If RTAB-Map's GUI or topic frequency feel laggy (even if processing time looks fast enough), it may be caused by the DDS. I recommend to use [Cyclone DDS](https://docs.ros.org/en/foxy/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html), you can try it by adding this before launching any nodes/launch files:
|
|
```bash
|
|
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
```
|
|
|
|
# Installation
|
|
|
|
### Binaries
|
|
```bash
|
|
sudo apt install ros-$ROS_DISTRO-rtabmap-ros
|
|
```
|
|
|
|
### From Source
|
|
* Make sure to uninstall any rtabmap binaries:
|
|
```
|
|
sudo apt remove ros-$ROS_DISTRO-rtabmap*
|
|
```
|
|
* RTAB-Map ROS2 package:
|
|
```bash
|
|
cd ~/ros2_ws
|
|
git clone https://github.com/introlab/rtabmap.git src/rtabmap
|
|
git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
|
|
rosdep update && rosdep install --from-paths src --ignore-src -r -y
|
|
export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB)
|
|
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
|
|
```
|
|
|
|
* To build with `rgbd_cameras>1` support and/or `subscribe_user_data` support:
|
|
```bash
|
|
colcon build --symlink-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release
|
|
```
|
|
|